Vehicle control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle control method and device, equipment and a medium. The method comprises the following steps: acquiring a fording depth value of a current vehicle; if the fording depth value is within the preset depth threshold interval, the rotating speed of an engine of the vehicle and the load of the engine of the vehicle are obtained; determining a compensation value of a valve of the engine based on the rotating speed of the engine and the load of the engine; wherein the air valve comprises at least one of a throttle valve and an exhaust valve; and controlling the corresponding throttle valve and / or the corresponding exhaust valve to be opened and closed based on the compensation value of the air valve. According to the vehicle control method and device, the wading capacity of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile engines, and in particular to a vehicle control method, device, electronic equipment and storage medium. Background Art

[0002] At present, when a vehicle passes through a flooded road, water may enter the exhaust pipe, blocking the normal exhaust of the engine and may even cause the engine to stall. At the same time, sewage may also cause damage to the three-way catalytic converter and muffler. In more serious cases, water enters the engine cylinder and causes engine damage. Summary of the invention

[0003] To solve the above technical problems, the embodiments of the present application provide a vehicle control method, device, electronic device and computer-readable storage medium, which can improve the vehicle's wading ability.

[0004] According to one aspect of an embodiment of the present application, a vehicle control method is provided, comprising: obtaining a current wading depth value of the vehicle; if the wading depth value is within a preset depth threshold interval, obtaining the engine speed of the vehicle and the engine load of the vehicle; determining a compensation value of a valve of the engine based on the engine speed and the engine load; wherein the valve includes at least one of a throttle valve and an exhaust valve; and controlling the corresponding throttle valve and / or the exhaust valve to open and close based on the valve compensation value.

[0005] In an exemplary embodiment of the present application, the preset depth threshold interval includes a first sub-interval and a second sub-interval, and the minimum value of the first sub-interval is greater than the maximum value of the second sub-interval; the method also includes: if the wading depth value is within the first sub-interval, determining the compensation value of the throttle based on the engine speed and the engine load; if the wading depth value is within the second sub-interval, determining the compensation value of the exhaust valve based on the engine speed and the engine load.

[0006] In an exemplary embodiment of the present application, if the wading depth value is within the first sub-interval, the method for determining the compensation value of the throttle based on the engine speed and the engine load includes: dividing the multiple cylinders of the engine into a preset shutoff cylinder and preset remaining cylinders other than the preset shutoff cylinder; determining the current intake and exhaust closing time of the preset shutoff cylinder, the current intake and exhaust closing time of the preset remaining cylinders, and the current opening value of the throttle based on the engine speed and the engine load; determining the compensation value of the throttle based on the current intake and exhaust closing time of the preset shutoff cylinder, the current intake and exhaust closing time of the preset remaining cylinders, and the current opening value of the throttle.

[0007] In an exemplary embodiment of the present application, the method of controlling the opening and closing of the corresponding throttle valve and / or the exhaust valve based on the compensation value of the valve includes: controlling the preset deactivation cylinder to deactivate, and adjusting the current opening value of the throttle valve based on the compensation value of the throttle valve.

[0008] In an exemplary embodiment of the present application, if the wading depth value is within the second sub-interval, the method for determining the compensation value of the exhaust valve based on the engine speed and the engine load includes: determining the early opening time value of the exhaust valve based on the engine speed and the engine load; determining the difference between the early opening time value of the exhaust valve and the valve phase; determining the exhaust valve opening angle compensation value based on the difference, and determining the compensation value of the exhaust valve based on the early opening time value of the exhaust valve and the opening angle compensation value.

[0009] In an exemplary embodiment of the present application, the method for controlling the opening and closing of the corresponding throttle valve and / or the exhaust valve based on the compensation value of the valve includes: controlling the early opening of the exhaust valve based on the early opening time value of the exhaust valve, and adjusting the opening angle value of the exhaust valve based on the opening angle compensation value.

[0010] In an exemplary embodiment of the present application, the method further includes: if the wading depth value is outside a preset depth threshold interval and is greater than a maximum depth threshold of the preset depth threshold interval, the engine of the vehicle is controlled to shut down and energy supply to the engine is stopped, and a warning message is generated for reminder.

[0011] According to another aspect of an embodiment of the present application, a control device for a vehicle is provided, the control device comprising: a first acquisition module for acquiring a current wading depth value of the vehicle; a second acquisition module for acquiring an engine speed and an engine load if the wading depth value is within a preset depth threshold interval; a determination module for determining a valve compensation value based on the engine speed and the engine load; wherein the valve comprises at least one of a throttle valve and an exhaust valve; and a control module for controlling the vehicle for intake and exhaust based on the valve compensation value.

[0012] According to another aspect of an embodiment of the present application, there is provided an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the above-mentioned vehicle control method.

[0013] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned vehicle control method.

[0014] In the present application, when the wading depth value of the vehicle is within a preset depth threshold range, the compensation value of the engine valve can be determined by obtaining the engine speed of the vehicle and the engine load of the vehicle, and then the corresponding throttle valve and / or exhaust valve are controlled to open and close according to the valve compensation value, thereby ultimately improving the vehicle's wading ability.

[0015] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0017] Figure 1 is a control signal transmission diagram of a vehicle control method shown in an exemplary embodiment of the present application;

[0018] Figure 2 is a flowchart of steps S210-S240 in a vehicle control method shown in an exemplary embodiment of the present application;

[0019] Figure 3 is a flowchart of steps S231-S233 in a vehicle control method shown in an exemplary embodiment of the present application;

[0020] Figure 4 is a flowchart of steps S231'-S233' in a vehicle control method shown in an exemplary embodiment of the present application;

[0021] Figure 5 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application;

[0022] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0024] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0026] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0027] At present, when vehicles pass through flooded roads, water is likely to enter the exhaust pipe, blocking the normal exhaust of the engine, which may cause the engine to stall. In serious cases, water may enter the engine cylinder and cause engine damage. In addition, sewage may also cause damage to the three-way catalytic converter and muffler.

[0028] Generally speaking, to prevent water from entering the exhaust pipe, an airway sealing motor, a main pipe with a curved pipe with a sealing float valve, an anti-water inlet valve body, a drain valve and a water pump are added to the intake and exhaust pipes to prevent water from entering the intake and exhaust pipes and then entering the cylinder. Alternatively, at low water levels, the transmission is downgraded to a low gear or maintained at a low gear, and the engine speed is increased or maintained at a high speed to prevent water from entering. At high water levels, the additional baffle is raised to prevent water from entering the intake pipe, and engine knock or pressure is detected to determine whether water has entered the engine, and then the engine is shut down.

[0029] However, the above technology changes the original structure of the intake and exhaust, which not only makes the structure more complicated but also increases the cost; at the same time, it changes the original intake and exhaust system structure of the engine, which may even have an adverse effect on the engine performance on non-water-crossing roads.

[0030] Based on this, the present application provides a vehicle control method, a control instruction processing device, an electronic device, and a computer-readable storage medium, so as to increase the wading depth of the engine without changing the original intake and exhaust system structure and with almost no impact on the engine performance. These embodiments will be described in detail below.

[0031] First of all, it should be noted that:

[0032] The throttle is a controllable valve that controls the air entering the engine. After the gas enters the intake pipe, it mixes with gasoline to form a combustible mixture, which is then burned. It is connected to the air filter at the top and the engine block at the bottom, and is called the throat of the car engine.

[0033] The exhaust valve is used to discharge the exhaust gas after combustion and dissipate heat. It is part of the engine and changes with the position of the engine. The exhaust valve is where the exhaust gas after combustion of the engine is discharged. On the cylinder head, the exhaust valve opens to discharge the exhaust gas, and the engine enters a new cycle.

[0034] Intake valve: The intake valve is an important engine component that allows air to be sucked into the engine and mixed with fuel for combustion.

[0035] The engine's deactivation cylinder refers to the cylinder that, when the engine is running under partial load, cuts off the fuel supply, ignition, intake and exhaust of some cylinders through relevant mechanisms and stops their work, so that the load rate of the remaining working cylinders is increased, efficiency is improved, and fuel consumption is reduced.

[0036] Valve phase, valve phase refers to the actual opening and closing timing of the intake valve and exhaust valve, usually represented by a ring diagram of the crankshaft angle relative to the upper and lower dead center crank positions.

[0037] Secondly, it should be noted that the implementation environment of the vehicle control method of the embodiment of the present application includes a terminal and a vehicle body water level monitoring system, a crankshaft position sensor, a camshaft position sensor, a throttle position sensor, a variable valve drive system, an electronic throttle and an injector electrically connected to the terminal.

[0038] Figure 1 It is a control signal transmission diagram of a vehicle control method shown in an exemplary embodiment of the present application.

[0039] The terminal is used to receive electrical signals from the vehicle body water level monitoring system, crankshaft position sensor, camshaft position sensor, throttle position sensor, variable valve drive system, electronic throttle and injector, and is used to control the working status of the vehicle body water level monitoring system, crankshaft position sensor, camshaft position sensor, throttle position sensor, variable valve drive system, electronic throttle and injector. The terminal may be a vehicle-mounted terminal (including an engine ECU).

[0040] See also Figure 1 , Figure 1 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present application. The method can be applied to Figure 1 It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0041] Figure 2 is a flowchart of steps S210-S240 in a vehicle control method shown in an exemplary embodiment of the present application; Figure 2 As shown, in an exemplary embodiment, the vehicle control method includes at least steps S210 to S240, which are described in detail as follows:

[0042] Step S210, obtaining the current wading depth value of the vehicle.

[0043] In an exemplary embodiment, the height of the exhaust port of the engine is lower than the height of the total air intake port of the engine. Therefore, in order to determine whether the exhaust system of the vehicle is wading in water earlier during the driving of the vehicle, obtaining the wading depth value of the vehicle means: obtaining the wading depth value of the exhaust port of the engine of the vehicle.

[0044] For example, the height of the exhaust port from the ground where the vehicle is located is a, and the height of the water level where the vehicle is located is b (the height at which the vehicle is submerged), then the wading depth of the vehicle is ab=c. If c is positive, the exhaust port is not submerged, and the distance to being submerged is c; if c is negative, the exhaust port is submerged, and the submerged height is the absolute value of c; if c is 0, the exhaust port is level with the water level and is about to be submerged.

[0045] For example, the wading depth value can be monitored by a vehicle body water level monitoring system installed on the vehicle body. The vehicle body water level monitoring system at least includes a water level monitoring sensor and a vehicle body water level monitoring system controller; the water level monitoring sensor is arranged at different heights of the vehicle body, and the vehicle body water level monitoring system controller calculates the vehicle wading depth after receiving the water level monitoring sensor signal and sends the wading depth value to the vehicle-mounted terminal.

[0046] Step S220: If the wading depth value is within the preset depth threshold range, the engine speed of the vehicle and the engine load of the vehicle are obtained.

[0047] In an exemplary embodiment, when the wading depth value of the vehicle is within a preset depth threshold range, the engine does not need to be shut down, fuel cut off and / or stopped.

[0048] Exemplarily, the preset depth threshold interval is [L1, L3].

[0049] Step S230, determining a compensation value of a valve of the engine based on the engine speed and the engine load; wherein the valve includes at least one of a throttle valve and an exhaust valve.

[0050] It should be understood that during the operation of the engine, when the load increases, the intake volume also needs to increase, so as to ensure the normal operation of the engine. At the same time, the higher the engine speed, the greater the intake volume. However, it should be noted that the engine load parameter may be different from the aforementioned concept in some cases. For example, at high idle speed, the engine load is zero, but the engine speed may increase. Therefore, the compensation value of the engine valve can be determined more accurately by combining the engine speed and the engine load.

[0051] Step S240, controlling the corresponding throttle valve and / or exhaust valve to open and close based on the valve compensation value.

[0052] From the above, it can be seen that when the wading depth value of the vehicle is within the preset depth threshold range, the compensation value of the engine valve can be determined by obtaining the engine speed and the engine load of the vehicle, and then the corresponding throttle valve and / or exhaust valve are controlled to open and close according to the valve compensation value, thereby ultimately increasing the maximum height value that the exhaust valve can be submerged, thereby improving the vehicle's wading ability.

[0053] In an exemplary embodiment, the exhaust valve is arranged near the exhaust port, and the throttle valve is arranged near the total air intake of the engine, so the horizontal height of the exhaust valve is lower than the height of the throttle valve. Therefore, different valves can be adjusted according to different wading depths of the vehicle, thereby more effectively increasing the maximum height value of the exhaust valve that can be submerged without stopping the engine and almost affecting the engine performance. At this time, the method for determining the compensation value of the engine valve based on the engine speed and the engine load includes: first determining the valve that needs to be adjusted according to the current wading depth value of the vehicle, and then determining the compensation value of the corresponding valve.

[0054] In an exemplary embodiment, the preset depth threshold interval includes a first sub-interval and a second sub-interval, and a minimum value of the first sub-interval is greater than a maximum value of the second sub-interval.

[0055] Exemplarily, the first sub-interval is [L2, L3], the first sub-interval is when the water level reaches the dangerous water level target value L2 and does not exceed the ultra-high water level target value L3; the second sub-interval is [L1, L2) the second sub-interval is when the water level reaches the risk water level target value L1 and does not reach the dangerous water level target value L2.

[0056] In an exemplary embodiment, the steps of first determining the valve that needs to be adjusted based on the wading depth value of the current vehicle and then determining the compensation value of the corresponding valve include: if the wading depth value is within the first sub-interval, determining that the valve that needs to be adjusted is the throttle valve based on the engine speed and the engine load, and then determining the compensation value of the throttle valve based on the engine speed and the engine load.

[0057] Further, Figure 3 is a flowchart of steps S231-S233 in a vehicle control method shown in an exemplary embodiment of the present application; Figure 3 As shown, the method for determining the throttle compensation value based on the engine speed and the engine load includes steps S231 to S233, which are described in detail as follows:

[0058] Step S231, dividing the multiple cylinders of the engine into preset deactivated cylinders and preset remaining cylinders except the preset deactivated cylinders.

[0059] It should be understood that under certain working conditions of the engine, some cylinders stop working, that is, these cylinders do not participate in combustion and work, thereby forming preset stop cylinders. Specifically, when the operating conditions of the engine do not require all cylinders to participate in the work, some cylinders can be stopped by control technology to form preset stop cylinders, thereby achieving the purpose of energy saving and emission reduction. Therefore, according to the working conditions of the engine, the multiple cylinders of the engine can be divided into preset stop cylinders and preset remaining cylinders other than the preset stop cylinders.

[0060] For example, if the engine has 6 cylinders, 2 of the 6 cylinders can be used as preset deactivation cylinders, and the remaining 4 cylinders can be used as preset remaining cylinders. When running under partial load, the fuel supply, ignition, and intake and exhaust of the preset deactivation cylinders can be cut off through relevant mechanisms to stop their operation, thereby increasing the load rate of the preset remaining cylinders, improving efficiency, and reducing fuel consumption.

[0061] Step S232, determining the intake and exhaust closing time of the currently preset deactivated cylinder, the intake and exhaust closing time of the currently preset remaining cylinders, and the current throttle opening value based on the engine speed and the engine load.

[0062] It should be understood that when the preset deactivation cylinders are in a stopped state, the intake and exhaust valves of these cylinders will be closed. Therefore, it is necessary to calculate the intake and exhaust closing time of the current preset deactivation cylinders, the intake and exhaust closing time of the current preset remaining cylinders, and the current throttle opening value by reading the engine speed and the engine load.

[0063] Step S233, determining a throttle compensation value based on the currently preset intake and exhaust closing time of the deactivated cylinder, the currently preset intake and exhaust closing time of the remaining cylinders, and the current throttle opening value.

[0064] It should be understood that based on the current preset intake and exhaust closing time of the deactivation cylinder, the current preset intake and exhaust closing time of the remaining cylinders and the current throttle opening value, the intake volume required by the engine can be obtained, and then the throttle opening target value can be obtained based on the intake volume required by the engine and the current throttle opening value, as well as the current preset intake and exhaust closing time of the remaining cylinders, and then the throttle compensation value can be obtained by the difference between the throttle opening target value and the current throttle opening value.

[0065] In an exemplary embodiment, the method of controlling the intake and exhaust of the engine based on the compensation value of the valve further includes: controlling a preset deactivation cylinder to deactivate the cylinder, and adjusting the current throttle opening value based on the compensation value of the throttle.

[0066] Exemplarily, after determining the compensation value of the throttle valve, the compensation value of the throttle valve is sent to the throttle valve to adjust the opening of the throttle valve, and the engine ECU reads the crankshaft phase sensor and the camshaft phase sensor, calculates the difference between the opening and closing angles of the intake and exhaust valves and the target value, and sends the compensation / weakening signal to the variable valve drive system to control the opening and closing of the intake and exhaust valves; the engine ECU sends a stop injection signal to the preset stop cylinder injector to control the preset stop cylinder to stop firing, thereby increasing the engine speed and the exhaust back pressure, thereby preventing the accumulated water from entering the engine exhaust pipe, and ultimately preventing the exhaust pipe from affecting the engine operation due to wading.

[0067] In an exemplary embodiment, the steps of first determining the valve that needs to be adjusted based on the wading depth value of the current vehicle and then determining the compensation value of the corresponding valve include: if the wading depth value is within the second sub-interval, determining that the valve that needs to be adjusted is the exhaust valve based on the engine speed and the engine load, and then determining the compensation value of the exhaust valve based on the engine speed and the engine load.

[0068] Further, Figure 4 is a flowchart of steps S231'-S233' in a vehicle control method shown in an exemplary embodiment of the present application; Figure 4As shown, the method for determining the compensation value of the exhaust valve based on the engine speed and the engine load includes steps S231' to S233', which are described in detail as follows:

[0069] Step S231 ′: determining the exhaust valve early opening timing value based on the engine speed and the engine load.

[0070] Step S232', reading the crankshaft phase sensor and the camshaft phase sensor through the engine ECU to determine the difference between the exhaust valve early opening time value and the valve phase.

[0071] Step S233', determining the exhaust valve opening angle compensation value based on the difference, and determining the exhaust valve compensation value based on the exhaust valve early opening time value and the opening angle compensation value.

[0072] In an exemplary embodiment, the method for controlling the intake and exhaust of the engine based on the valve compensation value also includes: controlling the early opening of the exhaust valve based on the early opening timing value of the exhaust valve, and adjusting the opening angle value of the exhaust valve based on the opening angle compensation value, thereby increasing the exhaust back pressure, so that the accumulated water cannot enter the exhaust pipe of the engine by increasing the exhaust back pressure, and finally preventing the exhaust pipe from affecting the operation of the engine due to wading.

[0073] In an exemplary embodiment, the method of controlling the engine intake and exhaust based on the valve compensation value also includes: if the wading depth value is outside the preset depth threshold range and is greater than the maximum depth threshold L3 of the preset depth threshold range, the vehicle's engine is controlled to shut down, stop supplying energy to the engine, and shut down, and a warning message is generated for reminder (such as sound and light alarm).

[0074] In addition, if the wading depth value is outside the preset depth threshold interval and is less than the maximum depth threshold L1 of the preset depth threshold interval, the engine of the vehicle is controlled to operate normally.

[0075] In summary, when the wading depth value of the vehicle is in the first sub-interval within the preset depth threshold interval, that is, the wading depth value of the vehicle reaches the dangerous water level target value L2 and does not exceed the ultra-high water level target value L3, the throttle compensation value can be determined based on the engine speed and the engine load, and then the throttle opening is adjusted accordingly, and a stop injection signal is sent to the preset stop cylinder injector through the engine ECU to control the preset stop cylinder to stop firing, so as to increase the engine speed and increase the exhaust back pressure, thereby preventing the accumulated water from entering the engine exhaust pipe, and finally avoiding the exhaust pipe from affecting the engine operation due to wading.

[0076] When the wading depth value of the vehicle is in the second sub-interval within the preset depth threshold interval, that is, the wading depth value of the vehicle reaches the risk water level target value L1, but does not reach the dangerous water level target value L2, the compensation value of the exhaust valve is determined based on the engine speed and the engine load, and the exhaust valve is controlled to open early based on the early opening time value in the compensation value of the exhaust valve, and the opening angle value of the exhaust valve is adjusted based on the opening angle compensation value in the compensation value of the exhaust valve, thereby increasing the exhaust back pressure, so that the accumulated water cannot enter the engine exhaust pipe by increasing the exhaust back pressure, and finally preventing the exhaust pipe from affecting the engine operation due to wading.

[0077] When the vehicle's wading depth value is outside the preset depth threshold interval and is greater than the maximum depth threshold L3 of the preset depth threshold interval, the vehicle's engine is controlled to shut down, energy supply to the engine is stopped, and the vehicle is shut down, and a warning message is generated for reminder (such as sound and light alarm).

[0078] When the wading depth value of the vehicle is outside the preset depth threshold interval and is less than the maximum depth threshold L1 of the preset depth threshold interval, the engine of the vehicle is controlled to operate normally.

[0079] Therefore, the vehicle control method of the present application can increase the maximum height value at which the exhaust valve can be submerged without changing the original engine structure and other parameters, and without stopping the engine and with almost no impact on engine performance.

[0080] Figure 5 FIG. 1 is a schematic diagram showing a structure of a vehicle control device 1100 provided in an embodiment of the present application. Figure 5 As shown, in this embodiment, a vehicle control device 1100 is also provided for executing the vehicle control method in the above embodiment.

[0081] The vehicle control device 1100 includes: a first acquisition module 1110, which is used to obtain the current wading depth value of the vehicle.

[0082] The vehicle control device 1100 includes: a second acquisition module 1120, which is used to acquire the engine speed and the engine load if the wading depth value is within a preset depth threshold range.

[0083] The control device 1100 of the vehicle includes: a determination module 1130, which is used to determine the compensation value of the valve based on the engine speed and the engine load; wherein the valve includes at least one of a throttle valve and an exhaust valve.

[0084] The control device 1100 of the vehicle includes: a control module 1140, which is used to control the intake and exhaust of the vehicle based on the compensation value of the valve.

[0085] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the vehicle control method provided in the above-mentioned embodiments.

[0086] Figure 6 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system 1200 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0087] like Figure 6 As shown, the computer system 1200 includes a central processing unit (CPU) 1201, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1202 or the program loaded from the storage part 1208 to the random access memory (RAM) 1203, such as executing the method in the above embodiment. In RAM 1203, various programs and data required for system operation are also stored. CPU 1201, ROM 1202 and RAM 1203 are connected to each other through a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0088] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed, so that a computer program read therefrom is installed into the storage section 1208 as needed.

[0089] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1209, and / or installed from a removable medium 1211. When the computer program is executed by a central processing unit (CPU) 1201, various functions defined in the system of the present application are executed.

[0090] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0091] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0092] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not constitute limitations on the units themselves in some cases.

[0093] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0094] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle control method provided in each of the above embodiments.

[0095] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A vehicle control method, characterized in that: include: Get the wading depth value of the current vehicle; If the wading depth value is within a preset depth threshold interval, obtaining the rotation speed of the engine of the vehicle and the load of the engine of the vehicle; Determining a compensation value of a valve of the engine based on a rotation speed of the engine and a load of the engine; wherein the valve includes at least one of a throttle valve and an exhaust valve; The corresponding throttle valve and / or exhaust valve are controlled to open and close based on the compensation value of the valve.

2. The method according to claim 1, characterized in that The preset depth threshold interval includes a first sub-interval and a second sub-interval, and the minimum value of the first sub-interval is greater than the maximum value of the second sub-interval; the method further includes: If the wading depth value is within the first sub-interval, determining a throttle compensation value based on the engine speed and the engine load; If the wading depth value is within the second sub-interval, a compensation value of an exhaust valve is determined based on the engine speed and the engine load.

3. The method according to claim 2, characterized in that The method of determining the throttle compensation value based on the engine speed and the engine load if the wading depth value is within the first sub-interval comprises: Dividing the plurality of cylinders of the engine into preset deactivation cylinders and preset remaining cylinders other than the preset deactivation cylinders; Determining the intake and exhaust closing time of the preset deactivation cylinder, the intake and exhaust closing time of the preset remaining cylinders, and the current throttle valve opening value based on the engine speed and the engine load; The throttle compensation value is determined based on the current intake and exhaust closing time of the preset deactivation cylinder, the current intake and exhaust closing time of the preset remaining cylinders, and the current throttle opening value.

4. The method according to claim 3, characterized in that The method of controlling the corresponding throttle valve and / or exhaust valve to open and close based on the compensation value of the valve comprises: The preset deactivation cylinder is controlled to be deactivated, and the current opening value of the throttle valve is adjusted based on the compensation value of the throttle valve.

5. The method according to claim 2, characterized in that The method of determining the compensation value of the exhaust valve based on the engine speed and the engine load if the wading depth value is within the second sub-interval comprises: determining an early opening timing value of the exhaust valve based on a rotation speed of the engine and a load of the engine; Determining a difference between an early opening time value of the exhaust valve and a valve phase; The exhaust valve opening angle compensation value is determined based on the difference, and the compensation value of the exhaust valve is determined based on the early opening time value of the exhaust valve and the opening angle compensation value.

6. The method according to claim 5, characterized in that The method of controlling the corresponding throttle valve and / or exhaust valve to open and close based on the compensation value of the valve comprises: The exhaust valve is controlled to open early based on the early opening timing value of the exhaust valve, and the opening angle value of the exhaust valve is adjusted based on the opening angle compensation value.

7. The method according to claim 1, characterized in that The method further comprises: If the wading depth value is outside the preset depth threshold interval and is greater than the maximum depth threshold of the preset depth threshold interval, the engine of the vehicle is controlled to shut down and energy is stopped from being supplied to the engine, and a warning message is generated for reminder.

8. A vehicle control device, characterized in that: The control device comprises: The first acquisition module is used to obtain the wading depth value of the current vehicle; a second acquisition module, configured to acquire the engine speed and the engine load if the wading depth value is within a preset depth threshold interval; A determination module, configured to determine a compensation value of a valve based on a rotation speed of the engine and a load of the engine; wherein the valve includes at least one of a throttle valve and an exhaust valve; A control module is used to control the intake and exhaust of the vehicle based on the compensation value of the valve.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the vehicle control method according to any one of claims 1 to 7.

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